US5638077A - Differential GPS for fleet base stations with vector processing mechanization - Google Patents
Differential GPS for fleet base stations with vector processing mechanization Download PDFInfo
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- US5638077A US5638077A US08/433,654 US43365495A US5638077A US 5638077 A US5638077 A US 5638077A US 43365495 A US43365495 A US 43365495A US 5638077 A US5638077 A US 5638077A
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- base station
- fleet
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/0009—Transmission of position information to remote stations
- G01S5/009—Transmission of differential positioning data to mobile
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/07—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
- G01S19/071—DGPS corrections
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
- G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
Definitions
- the present invention relates to global positioning system (GPS) technology and more particularly to automatic vehicle location systems based on differential GPS (DGPS) technology for fleet management purposes.
- GPS global positioning system
- DGPS differential GPS
- GPS has revolutionized the positional data collection techniques not only in surveying and mapping but also in numerous other areas.
- One such area is an automatic vehicle location system ("AVLS") for use in a fleet management system, where locations of fleet vehicles are tracked by a base station for both real-time and post-processed systems.
- AVLS automatic vehicle location system
- GPS generally provides real-time positional information as to the location of a vehicle equipped with a GPS receiver.
- GPS generally provides real-time positional information as to the location of a vehicle equipped with a GPS receiver.
- only the relative position of each vehicle unit to a fixed base station need be determined for post-processed vehicle data base management.
- One such system is the FleetmasterTM system available from Rockwell International, Newport Beach, Calif., the assignee of the present application.
- FIG. 1 illustrates a typical DGPS system, where a base station antenna 10 has a fixed, or surveyed, location for observing GPS satellites 15 using a geodetic GPS receiver.
- position in GPS realm means geodetic latitude, geodetic longitude and geodetic height.
- the base station through the GPS receiver, then calculates error parameters in each satellite range.
- the correction parameters are broadcast to all mobile units 19 for all satellite ranges. Upon receiving the correction parameters, the mobile units 19 apply the correction parameters to derive their accurate position.
- GPS-equipped vehicles allow the base station to determine where the fleet vehicles are located.
- each GPS receiver aboard the vehicle acquires position, velocity and heading, i.e. "locations", information, as well as a host of others, and transmits the information back to the base station through a communications link such as radio or cellular connection.
- the base station determines the error information as to each satellite and broadcasts the information to each fleet vehicle through an RTCM-104 message.
- a base station antenna 20 is set to acquire pseudo-ranges ("S 1 . . . S n ”) from the earth orbiting satellites.
- the pseudo-ranges S 1 . . . S n are received through a base station GPS receiver 21 such that they can be processed by a data processor 22.
- the GPS receiver 21 should be equipped with enough channels (“N channels”) to accommodate all the GPS satellites available.
- an antenna position vector P which represents the already known antenna position, is input to the data processor 22 for processing.
- a vector E n (t) representing the position of the n-th satellite relative to the center of the earth is input to the data processor 22 for determining a vector R n for the n-th satellite, which represents the vector range between the n-th satellite and the base station antenna position.
- the vector E n (t) i.e. coordinates of the n-th satellite at time "t" as it is broadcast by the n-th satellite, is obtained from an ephemeris file 28 derived from each n-th satellite data message in earth-centered coordinates as shown in the vector chart 29. It is to be noted that in the present application, the notation for a vector is indicated in bold styles.
- the data processor 22 obtains the DGPS corrections for the n-th satellite according to the following computation:
- the DGPS corrections as determined by abs (PRC) n (“pseudo-range correction”) and abs (RRC) n (“pseudo-range rate correction”) can then be formatted by a data formatter 25 according to the RTCM-104 protocols. Thereafter, the RCTM-104 message is modulated by a communications link 26 before it is transmitted by a data link transmitter 27 to the remote fleet receivers. It should be noted that a presumption has been made in this implementation that only "n" satellites are in view of any one base station and the number "n" should be fully accommodated by the N-channel receiver at the bast station, i.e. n ⁇ N. As can be understood by those skilled in the art, the communications link 26 and data link transmitter 27 can easily be overburdened by the RTCM-104 message, which is broadcast to all remote units by the base station.
- FIG. 3 illustrates a DGPS base station configuration with active forward RTCM-104 transmissions.
- the DGPS corrections obtained by the data processor 35 are formatted by the data formatter 34 so they can be modulated by a modem 32 for transmission.
- the modulated data are transmitted in RTCM-104 data stream 30, which identifies the DGPS corrections associated with all observable satellites, e.g. SV 1 , SV 2 , SV 3 , SV 4 , . . . SV n , by a communications link 31, such as SMR ("Specialized Mobile Radio") or cellular, to a fleet vehicle 36.
- the DGPS corrections are processed by the vehicle's GPS receiver to obtain corrected GPS data 37 and reported back to the modem 32 through the communications link 31.
- a novel differential GPS system for fleet base stations is disclosed. Now a fleet vehicle sends the information "position solution" back to the base station with time annotation. The position solution only needs to specify position, velocity and the satellites observed.
- the base station which already has an a priori fixed position vector for its location, generates a potential solution set for all the possibly observable satellites. This allows the base station to vector-process to determine what the differential correction is for each combinatorial set of satellites observed by the fleet vehicle. This way, equivalent differential GPS accuracy of 10 meters or better can be achieved for the fleet management system without imposing the communications burden to the system.
- a fleet management system for a base station to provide differential GPS corrections to fleet vehicles is disclosed.
- the base station may use an N-channel base station GPS receiver for observing pseudo-range and pseudo-range rate signal vectors from GPS receivers.
- the fleet vehicles also use fleet GPS receivers for observing GPS satellites, which generate signals of uncorrected time-annotated GPS location data and identification of the GPS satellites.
- the fleet vehicles transmit the uncorrected time-annotated GPS location data and identification to the base station through an I/O control for receiving from the fleet vehicles.
- Time-annotated vehicle data record can then be generated, comprising position, velocity vectors and satellite identification.
- the fleet management system has a processing unit for determining a maximum number of possible satellite combinatorials out of the fleet-observed satellites taken 4 at a time, for forming annotated pseudo-range and pseudo-range rate signal vectors as a specific subset of M, for generating position and velocity vectors using navigation computation for each annotated pseudo-range and pseudo-range rate signal vectors.
- the processing unit can thus calculate DGPS correction and update the uncorrected GPS location data.
- FIG. 1 is a simplified diagram of a typical DGPS system.
- FIG. 2 is a simplified diagram of another DGPS system.
- FIG. 3 illustrates a DGPS base station configuration with active forward RTCM-104 transmission.
- FIG. 4 is a simplified system of a fleet management system.
- FIG. 5 illustrates the initialization step of the vector processing.
- FIG. 6 illustrates a data record from a fleet vehicle.
- FIG. 7 illustrates the step of data examination and storage.
- FIG. 8 illustrates the step of formulating the "M" set vectors.
- FIG. 9 illustrates the step of navigation processing.
- FIG. 10 illustrates the step of determining corrections for DGPS.
- FIG. 11 illustrates the step of applying corrections.
- FIG. 4 where a simplified system diagram of a fleet management system 40 using vector processing in accordance with the present invention is shown.
- the major functional components will be described as follows:
- a base station antenna 400 is preferably located at a defined and fixed physical location established by the fleet operations management. It is generally preferable to ensure that the location is known precisely within a selected mapping or navigation coordinate frame utilized by the fleet, and is available to a base station processor 410 as an a priori position vector as follows:
- P a 3-dimensional position vector for the base station antenna.
- the position vector P 405 may be established by means of exact surveying (not shown) or by means of self-surveying using a base station GPS receiver 402, which are methods well understood by those skilled in the art.
- a base station GPS receiver 402 may be a GPS receiver, or receiver/processor, which is capable of providing signals from all and any of N separate GPS satellites, and thus is capable of at least N-channel operation.
- One example is the NavCore® V GPS receiver from Rockwell International, Newport Beach, Calif.
- the value of "N” could be any number from 4 to 12 depending upon what the maximum number of satellites are deemed to be visible to the antenna from the base station antenna location 400. Note that the number "N” is typically what the manufacturer of the GPS receivers sets in factory.
- the base station GPS receiver 402 will be provided with the following satellite signals 401 from the GPS satellites in view:
- the base station GPS receiver 402 should preferably be capable of receiving and processing the pseudo-range rate, or,
- Both S n and S n * are measured and annotated in time by the base station GPS receiver 402 and they form the basic measurement observables for the DGPS implementation in accordance with the present invention.
- a base station processor 410 coupled to the N-channel GPS receiver 402, provides the capability to control and manage the AVLS data processing.
- the base station processor 410 may perform vector processing (to be described), normal fleet management data flow, i.e. AVLS management software 475, and eventually information display 470.
- the vector processing mechanization in accordance with the present invention currently resides within the Base Station Processor.
- processor 410 and information display 470 may typically be implemented with a desk-top mini-computer capable of running the AVLS management software 475.
- a data modem 420 is an interface between the base station and its fleet in the fleet management system 40.
- the data modem 420 under the control of the base station processor 410, establishes the means for information exchange between the fleet vehicles 440 and the base station via a communications network 421.
- the modem 420 may provide a data base 450 as the data are received from each of the fleet vehicles 440 (the "j-th" vehicle).
- the data comprise the following:
- V j Fleet vehicle velocity vector for the j th vehicle
- n specific GPS satellite numbers corresponding to the identification of "n” satellites that are employed for the vehicle's navigation solution.
- time annotation is essential to fleet management data base in that it allows the data base to be viewed and managed at a later time.
- a communications network 421 provides the means for communication between the base station, via the modem 420, and the fleet vehicles 440.
- Vector processing for the fleet management system 40 in accordance with the present invention may be implemented by any form of the network as indicated in FIG. 4 including, but not limited to, the following:
- SMR Specialized Mobile Radio
- one of the major efficacies of the base station fleet management system with vector processing in accordance with the present invention is that it accomplishes the desired DGPS accuracy without any burdening of the communications network beyond normal data reporting from the fleet vehicles 440.
- each fleet vehicle may include a complementary set of a GPS receiver, a data modem, an antenna, and a communication network device which reports messages back to the base station, via the modem 420.
- the set of satellites utilized by each of the fleet vehicles 440 is included in the message as an identifying scalar set of numbers, i.e. "n". Note that this information is already reported back to the base station in a receiver such as the NAVCORE V GPS receiver from Rockwell International. It will be up to the previously described data modem 420, or an Input/Output formatter, to extract the necessary information from the message for vector processing in accordance with the present invention.
- the base station processor 410 is provided the a priori position vector 405 P based on either exact surveying or self-surveying (FIG. 5, 500). This initialization data P may be used, upon power-up of the fleet management system (FIG. 4, 40), to enable the program (FIG. 5, 510).
- Step 2 Data Record from j-th vehicle
- This data record (FIG. 4, 450), with its GPS time annotated index, t k , is provided to the base station processor (FIG. 4, 410) as an input to the process flow for vector processing (FIG. 5, 520).
- the data record is illustrated in FIG. 6.
- Step 3 Examine and Store j-th Data Base
- FIG. 7 illustrates this step.
- the record from Step 2 is stored, with annotated time index, t k , and examined 700 to determine which specific combination the set of "n" observable satellites represents out of the maximum number of satellites available to both the j-th fleet vehicle 440 and the base station. (The maximum number, "M", of combinations of satellites taken 4 at a time is specified and defined below.)
- the j-th record is stored as m-set specific 720, by determining "M" as the maximum number of 4-satellite combinatorials observed by the fleet.
- M the maximum number of 4-satellite combinatorials observed by the fleet.
- more than 4 satellites may be employed in certain "overdetermined” cases such that the maximum number "M” will be the maximum number of satellite combinatorials out of the total number of satellites taken 5, 6, or even 7 at a time.
- the present description will be in reference to solutions based on 4-a-set combinations.
- the base station potential observables are ordered to comply with the same set of "n" satellites as viewed from the fleet vehicles to form a base station solution as:
- S n * similar column of pseudo-range rate signals from base station N-channel receiver.
- Step 5 Form the m-set Navigation Solution
- Step 4 With the m-set measurement observables given in Step 4 above, as provided from the base station GPS receiver, the navigation processing proceeds as illustrated in FIG. 9.
- Kalman filtering estimation Iterative Kalman filtering estimation. Note that the general subject of Kalman filtering is available in a paper published by the present inventor, entitled NAVSTAR GLOBAL POSITIONING SYSTEM USER EQUIPMENT NAVIGATION, presented at the Eighth Asilomar Conference on Circuits, Systems, and Computers, December 1974.
- Navigation Computation blocks may be implemented within the base station processor (FIG. 4, 410), or it may be implemented within the base station GPS receiver (FIG. 4, 402) and simply commanded to select the proper M-set observables S m , and S m * as required to accomplish the calculation of Step 5.
- Step 6 Determine Corrections for DGPS
- FIG. 10 illustrates the determination of corrections for DGPS.
- ⁇ P m P-P m
- ⁇ V m S m *
- the j th vehicle which utilized the m-set specific combination of satellite observables its position and velocity are updated based on the corrections determined for a particular time tag t k as shown in FIG. 10.
- the corrected information may either be stored for subsequent use or displayed on the monitor of a base station computer.
- Step 8 Iterate Process Flow for j+1 Data Base
- the next reported vehicle data base, j+1 is examined by looping back to Step 3, and if necessary forming the next required M-set of observables and repeating Steps 3 to 7 as shown above.
- corrections can be retained for any desired amount of time, or data latency, or they can be stored for non real-time post processing if desired.
- Vector processing in accordance with the present invention also recognizes that both the base station GPS receiver and the fleet vehicle with its GPS receiver may employ an "All-In-View" navigation solution, where 5, 6, or even up to all 12 potential satellites in view may be utilized to obtain an over-determined position and velocity navigation solution.
- This "All-In-View” optional mechanization is readily encompassed by simply recognizing that the selected sub-set or m-set of observables at the fleet vehicle is a number, n, greater than 4, and defining both S m and S m * of process flow Step 4 (in the above), to be a vector of column size "n ⁇ 1", rather than just 4 ⁇ 1.
- the over-determined alternative is then most readily processed by an iterative Kalman or least squares filter in the Navigation Computation blocks of Step 5.
Abstract
Description
M=n(n-1)(n-2)(n-3)/4!.
TABLE 1 ______________________________________ n = number of satellites M = maximum combinations ______________________________________ 5 5 6 15 7 35 8 70 9 126 10 210 11 330 12 495 ______________________________________
Claims (11)
ΔP.sub.M =P-P.sub.M and ΔV.sub.M =P.sub.M *,
ΔP.sub.M =P-P.sub.M and ΔV.sub.M =P.sub.M *,
M=n(n-1)(n-2)(n-3)/4!;
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